A Fibonacci control system with application to hyper-redundant manipulators. Issue 2 (June 2016)

• Record Type: Journal Article
• Authors: Lai, Anna; Loreti, Paola; Vellucci, Pierluigi
• Is Part Of: Mathematics of control, signals, and systems. Volume 28:Issue 2(2016)
• Page Start: 1
• Page End: 32
• Publication Date: 2016-06
• Subjects: Redundant manipulators -- Fibonacci sequence -- Discrete control -- Self-similar dynamics -- Expansions in complex bases; Control theory -- Periodicals; Signal processing -- Periodicals; System analysis -- Periodicals; 621.38223
• DOI: 10.1007/s00498-016-0167-4
• Languages: English
• ISSNs: 0932-4194

Abstract

Abstract We study a model for snake-like robots based on the Fibonacci sequence. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability properties. In addition, we establish some fractal properties of the reachable workspace by means the theory of iterated function systems.